Score Kalman Filter performs nonlinear moment-based filtering by reducing density fitting to a linear solve from moments via score matching and closing hierarchies with Stein's identity, avoiding partition function integrals entirely.
G.6 SE(2) kinematics SDE.State x= (c, s, p x, py) with c= cosθ , s= sinθ , c2 +s 2 = 1
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The Score Kalman Filter
Score Kalman Filter performs nonlinear moment-based filtering by reducing density fitting to a linear solve from moments via score matching and closing hierarchies with Stein's identity, avoiding partition function integrals entirely.